CN109301844B - Hydroelectric generating set speed regulator PID parameter optimization method and device based on power grid system - Google Patents
Hydroelectric generating set speed regulator PID parameter optimization method and device based on power grid system Download PDFInfo
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Abstract
The invention discloses a hydropower unit speed regulator PID parameter optimization method and device based on a power grid system, and the method comprises the following steps: determining a hydroelectric generating set which needs to be subjected to PID parameter optimization of a speed regulator in a power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in PID parameters to be a first proportional coefficient and a first integral coefficient; carrying out fault disturbance on a power grid system to enable the power grid system to generate low-frequency oscillation, acquiring the vibration period of the power grid system during the low-frequency oscillation and recording the mechanical power curve of the hydroelectric generating set; calculating the steady state regulating quantity, the steady state time and the overshoot proportion of the hydroelectric generating set power after the power grid system has fault disturbance according to the mechanical power curve; the steady state regulating quantity and the steady state time of the hydroelectric generating set are judged according to the preset threshold value, so that the PID parameters of the speed regulator of the hydroelectric generating set are properly adjusted, a set of reasonable PID parameters are found for the speed regulator of the hydroelectric generating set in a power grid system in a short time, and the ultra-low frequency oscillation phenomenon of a large power grid is effectively inhibited.
Description
Technical Field
The invention relates to the technical field of power systems, in particular to a method and a device for optimizing a PID (proportion integration differentiation) parameter of a hydroelectric generating set speed regulator based on a power grid system.
Background
The Yunnan power grid is used as an important energy base for the east-west power transmission in China and is provided with a large number of hydroelectric generating sets. During 2016, an asynchronous networking test of a Yunnan power grid and a southern power grid main network, the Yunnan power grid generates a long-time and large-amplitude ultra-low frequency oscillation phenomenon, and the oscillation period is about 20 s; the oscillation restricts the safe and stable operation of the Yunnan power grid after the asynchronization in certain procedures. Researches find that the oscillation is mainly caused by negative damping caused by the water hammer effect of a large number of hydroelectric generating sets in a Yunnan power grid, and the oscillation is further aggravated by the negative damping provided by a speed regulating system of the hydroelectric generating sets. The water hammer effect is caused by a mechanical structure, effective improvement of the produced equipment is difficult to carry out at present, and the mainstream solution for solving the problem is to optimize a PID (proportion integration differentiation) parameter of a speed regulator of the hydroelectric generating set.
There are many conventional PID optimization methods, including simplex method, gradient method, genetic algorithm, etc., which have their own drawbacks. The simplex method is easily trapped in a local optimal solution due to the influence of an initial value and a calculation step length; the gradient rule has higher requirement on the target function, and the speed can be regulated only under the condition that the target function is continuously derivable; the genetic algorithm needs genetic example operation, has very low convergence rate and is easy to generate local optimum and premature phenomena; the particle swarm algorithm has strong global search capability and is usually used for designing and optimizing the PID parameters of the speed regulator of the hydroelectric generating set in the past, but in order to enable the speed regulation performance of each hydroelectric generating set to be connected into a whole through system frequency, the main hydroelectric generating sets in a power grid system need to be optimized simultaneously, so the dimensionality of particles in the particle swarm algorithm exceeds 100 dimensions, the calculation is complex and the time consumption is long when reasonable and good PID parameters are generated, and the requirement of actual production cannot be met.
Disclosure of Invention
The invention aims to provide a method and a device for optimizing PID parameters of a hydroelectric generating set speed regulator based on a power grid system, which can find a group of reasonable PID parameters for the hydroelectric generating set speed regulator in the power grid system in a short time and effectively inhibit the ultra-low frequency oscillation phenomenon of a large power grid.
The embodiment of the invention provides a hydropower unit speed regulator PID parameter optimization method based on a power grid system, which comprises the following steps:
determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient;
carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation;
when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state regulating quantity;
judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
Preferably, the calculating the steady-state adjustment quantity and the steady-state time of the power of each hydroelectric generating set after the fault disturbance of the power grid system according to the mechanical power curve specifically includes:
according to the formula AD (k) ═ (F)f-Fref-Sq(k)×Fref)/Fref/Ep(k) Calculating the steady state regulating quantity of the hydroelectric generating set power;
wherein AD (k) is the steady-state regulating quantity of the power of the kth hydroelectric generating set, FfFor the steady-state frequency, F, of the grid system after the low-frequency oscillation has subsidedrefIs the standard frequency, S, of the grid systemq(k) For the PID control dead zone of the kth hydroelectric generating set, Ep(k) The adjustment coefficient of the kth hydroelectric generating set;
the steady-state time is a time point when the mechanical power of the hydroelectric generating set starts to be stably maintained in a preset first power range.
Preferably, the calculating an overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state adjustment amount specifically includes:
calculating an initial value and a second swing limit value in the mechanical power curve according to the mechanical power curve; the initial value is a mechanical power value of the hydroelectric generating set when the fault disturbance occurs, and the second oscillation extreme value is a mechanical power extreme value in a time period of 1.5-2.5 after the fault disturbance occurs;
calculating a first adjustment quantity of power of the hydroelectric generating set after fault disturbance according to the initial value and the second oscillation extreme value;
and calculating the overshoot proportion of the hydroelectric generating set according to the first regulating quantity and the steady-state regulating quantity.
Preferably, the calculating, according to the initial value and the second oscillation limit value, a first adjustment amount of power of the hydroelectric generating set after the fault disturbance occurs includes:
according to formula P1(k)＝P0(k)-Pi(k) Calculating a first regulating quantity of power of the hydroelectric generating set after fault disturbance;
wherein, P1(k) For the first adjustment of the power, P, of the kth hydroelectric generating set after a fault disturbance0(k) For the kth hydroelectric generating setInitial value of power, P, at fault disturbancei(k) And the second swing extreme value is obtained.
Preferably, calculating an overshoot proportion of the hydroelectric generating set according to the first adjustment amount and the steady-state adjustment amount specifically includes:
according to the formula OS (k) ═ P1(k) Calculating the overshoot proportion of the hydroelectric generating set by means of division AD (k);
wherein OS (k) is the overshoot proportion of the kth hydroelectric generating set.
Preferably, the adjusting the first integral coefficient of the hydroelectric generating set specifically includes:
and increasing the first integral coefficient by a preset first value to obtain a second integral coefficient.
Preferably, the adjusting the first scaling factor of the plurality of hydroelectric generating sets specifically includes:
recording the number of times of fault disturbance on the power grid system, sequencing the hydroelectric generating sets according to the steady-state time when the number of times of fault disturbance is an odd number, and increasing the first proportional coefficients of the first N hydroelectric generating sets with smaller steady-state time by a preset second value;
when the number of the fault disturbance is even, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first proportion coefficient of the first M hydroelectric generating sets with larger overshoot proportions by a preset second value;
wherein N is 2M.
Preferably, the adjusting the first scaling factor of the plurality of hydroelectric generating sets specifically includes:
recording the frequency of fault disturbance on the power grid system, judging whether the frequency of the fault disturbance is a multiple of 3, if not, sequencing the hydroelectric generating sets according to the steady-state time, and increasing the first proportional coefficients of the first P hydroelectric generating sets with smaller steady-state time by a preset third value;
if yes, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first scale coefficient of the first Q hydroelectric generating sets with larger overshoot proportion by a preset third value;
wherein P is 2Q.
Preferably, the first power range is 0.92ad (k) -1.08ad (k), wherein ad (k) is a steady-state regulating variable of the power of the kth hydroelectric generating set.
The embodiment of the invention also provides a hydroelectric generating set speed regulator PID parameter optimization device based on the power grid system, which comprises:
the system comprises a speed regulator PID parameter adjusting module, a speed regulator PID parameter adjusting module and a control module, wherein the speed regulator PID parameter adjusting module is used for determining a hydroelectric generating set which needs speed regulator PID parameter optimization in the power grid system, and adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter into a first proportional coefficient and a first integral coefficient respectively;
the vibration period calculation module is used for carrying out fault disturbance on the power grid system so as to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation so as to obtain a vibration period of the power grid system during the low-frequency oscillation;
the mechanical power curve recording module is used for recording a mechanical power curve of each hydroelectric generating set when the power grid system generates low-frequency oscillation, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
the overshoot proportion calculation module is used for calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady state regulating quantity;
the steady-state regulating quantity judging module is used for judging whether the steady-state regulating quantity of each hydroelectric generating set is smaller than a first threshold value or not, if yes, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulating quantity of the power of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
the steady-state time judging module is used for judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value or not, and if yes, ending the optimization process of the PID parameters of the hydroelectric generating set speed regulators; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
Compared with the prior art, the hydropower unit speed regulator PID parameter optimization method based on the power grid system has the beneficial effects that: the grid system-based hydroelectric generating set speed regulator PID parameter optimization method comprises the following steps: determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient; carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation; when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve; calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state regulating quantity; judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets; judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set. The method judges the steady state regulating quantity and the steady state time of the hydroelectric generating set power according to the preset threshold value, thereby properly adjusting the PID parameters of the hydroelectric generating set speed regulator, finding a group of reasonable PID parameters for the hydroelectric generating set speed regulator in a power grid system in a short time, and effectively inhibiting the ultra-low frequency oscillation phenomenon of a large power grid.
Drawings
FIG. 1 is a flow chart of a method for optimizing PID parameters of a hydroelectric generating set speed regulator based on a power grid system according to an embodiment of the invention;
FIG. 2 is a graph illustrating a mechanical power curve of a hydroelectric generating set according to an embodiment of the present disclosure;
fig. 3 is a schematic diagram of a hydroelectricity unit speed regulator PID parameter optimization device based on a power grid system according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Please refer to fig. 1, which is a flowchart of a method for optimizing PID parameters of a hydro-power generating unit speed regulator based on a power grid system according to an embodiment of the present invention, wherein the method for optimizing PID parameters of a hydro-power generating unit speed regulator based on a power grid system includes:
s100: determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient;
s200: carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation;
s300: when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
s400: calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state regulating quantity;
s500: judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
s600: judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
In the embodiment, after the fault disturbance is carried out on the power grid system, the overshoot proportion and the steady state time of the mechanical power of each hydroelectric generating set are obtained, the proportion coefficient and the integral coefficient of each hydroelectric generating set are gradually adjusted according to a certain adjusting method, the time for each hydroelectric generating set to enter the steady state is integrally reduced, a set of reasonable PID parameters are found for the hydroelectric generating set speed regulator in the power grid system, and the ultra-low frequency oscillation phenomenon of a large power grid is effectively inhibited.
In an alternative embodiment, S100: determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient;
in this embodiment, since some abnormal hydroelectric generating sets may exist in the whole grid system, such as a hydroelectric generating set without a PID speed regulator, a hydroelectric generating set with a speed regulator but with an unadjustable PID parameter, or a hydroelectric generating set with too small power and with a very small influence on the grid system, it is necessary to eliminate some hydroelectric generating sets to reduce the calculation amount of the optimization process. The general hydro-power generating units with speed regulators without PID regulation capacity are definite, and mainly exclude the hydro-power generating units with too small power, wherein a specific threshold value can be set for exclusion, for example, hydro-power generating units with the power less than 100MW are not considered, so that the hydro-power generating units in a power grid system which need to be subjected to PID parameter optimization of the speed regulators can be determined and numbered; in addition, the PID parameters of the speed regulator comprise three parameters which are respectively a proportional coefficient, an integral coefficient and a differential coefficient, the initial proportional coefficient and the initial integral coefficient in the PID parameters of the speed regulator of the hydroelectric generating set are adjusted to be proper values according to experimental experience in the application, so that the speed regulator of the hydroelectric generating set can conveniently find out reasonable PID parameters in the PID parameter optimization process, the differential coefficient is kept unchanged, the first proportional coefficient can be 1.0, and the first integral coefficient can be 0.2.
In an alternative embodiment, S200: carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation;
in this embodiment, the fault disturbance may be a fault that makes the power of the grid system mismatched, for example, a certain return direct current of the grid system is subjected to unipolar blocking, which causes a power excess phenomenon in the grid system; or a certain large unit of the power grid system is cut off, so that the power of the power grid system is insufficient; the Prony algorithm is an algorithm capable of effectively estimating the frequency, the attenuation damping and the amplitude of a given signal, shows good adaptability to the analysis of low-frequency oscillation signals, and can be used for conveniently analyzing and calculating the low-frequency oscillation signals.
In an alternative embodiment, S300: when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating a steady-state regulating quantity and a steady-state time of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve, wherein the method specifically comprises the following steps:
according to the formula AD (k) ═ (F)f-Fref-Sq(k)×Fref)/Fref/Ep(k) Calculating the steady state regulating quantity of the hydroelectric generating set power;
wherein AD (k) is the kth hydroelectric powerSteady state regulation of unit power, FfFor the steady-state frequency, F, of the grid system after the low-frequency oscillation has subsidedrefIs the standard frequency, S, of the grid systemq(k) For the PID control dead zone of the kth hydroelectric generating set, Ep(k) The adjustment coefficient of the kth hydroelectric generating set;
the steady-state time is a time point when the mechanical power of the hydroelectric generating set starts to be stably maintained in a preset first power range.
In this embodiment, the stable maintenance of the mechanical power of the hydroelectric generating set in the preset first power range means that the mechanical power of the hydroelectric generating set is always within the first power range and does not exceed the first power range; the mechanical power curve can be directly displayed and output by calculation and analysis software of a power system, and the PID adjustment dead zone is a parameter of the hydroelectric generating set and can generally take the value of 0.04-0.06 Hz; the difference adjustment coefficient of the motor set can be 0.04-0.05, wherein the steady-state time can be 999 seconds if the mechanical power of the hydroelectric generating set cannot be stably kept in a preset first power range in a preset time period.
In an alternative embodiment, S400: calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady state regulating quantity, and specifically comprises the following steps:
calculating an initial value and a second swing limit value in the mechanical power curve according to the mechanical power curve; the initial value is a mechanical power value of the hydroelectric generating set when the fault disturbance occurs, and the second oscillation extreme value is a mechanical power extreme value in a time period of 1.5-2.5 after the fault disturbance occurs;
calculating a first adjustment quantity of power of the hydroelectric generating set after fault disturbance according to the initial value and the second oscillation extreme value;
and calculating the overshoot proportion of the hydroelectric generating set according to the first regulating quantity and the steady-state regulating quantity.
In this embodiment, the extreme value of the second swing extreme value includes a maximum value and a minimum value, and when the power of the grid system is mismatched and the power is excessive, the extreme value of the second swing extreme value is the minimum value; when the power of the grid system is insufficient, the extreme value of the second swing extreme value is the maximum value, please refer to fig. 2, which is a graph showing a mechanical power curve of a certain hydroelectric generating set when the power of the grid system is mismatched and excessive.
In an optional embodiment, the calculating, according to the initial value and the second oscillation limit value, a first adjustment amount of power of the hydroelectric generating set after the fault disturbance occurs specifically includes:
according to formula P1(k)＝P0(k)-Pi(k) Calculating a first regulating quantity of power of the hydroelectric generating set after fault disturbance;
wherein, P1(k) For the first adjustment of the power, P, of the kth hydroelectric generating set after a fault disturbance0(k) Is the initial value of power, P, when the kth hydroelectric generating set has fault disturbancei(k) And the second swing extreme value is obtained.
In an optional embodiment, calculating an overshoot proportion of the hydroelectric generating set according to the first adjustment amount and the steady-state adjustment amount specifically includes:
according to the formula OS (k) ═ P1(k) Calculating the overshoot proportion of the hydroelectric generating set by means of division AD (k);
wherein OS (k) is the overshoot proportion of the kth hydroelectric generating set.
In an alternative embodiment, S500: judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportion coefficients of the hydroelectric generating sets, and specifically comprising the following steps:
and increasing the first integral coefficient by a preset first value to obtain a second integral coefficient.
In this embodiment, the first threshold may be 1.0, the first value may be 0.05, and as long as the steady-state adjustment amount of any one hydroelectric generating set is smaller than the first threshold, the grid system is disturbed again by a fault, and the mechanical power curve of each hydroelectric generating set is recorded again, so that the steady-state adjustment amount, the steady-state time, and the overshoot proportion of the power of each hydroelectric generating set are recalculated.
In an optional embodiment, the adjusting the first scaling factor of the plurality of hydroelectric generating sets specifically includes:
recording the number of times of fault disturbance on the power grid system, sequencing the hydroelectric generating sets according to the steady-state time when the number of times of fault disturbance is an odd number, and increasing the first proportional coefficients of the first N hydroelectric generating sets with smaller steady-state time by a preset second value;
when the number of the fault disturbance is even, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first proportion coefficient of the first M hydroelectric generating sets with larger overshoot proportions by a preset second value;
wherein N is 2M.
In this embodiment, since the PID parameters do not satisfy some judgment conditions in the optimization process, and the grid system needs to be subjected to fault disturbance again, the first scale coefficient may be adjusted according to the parity of the number of times of fault disturbance; wherein, M can be 5, the larger the value of M is, the faster the optimization speed of PID parameters is, but the precision is correspondingly reduced; the second value may take the value of 0.1.
In an optional embodiment, the adjusting the first scaling factor of the plurality of hydroelectric generating sets specifically includes:
recording the frequency of fault disturbance on the power grid system, judging whether the frequency of the fault disturbance is a multiple of 3, if not, sequencing the hydroelectric generating sets according to the steady-state time, and increasing the first proportional coefficients of the first P hydroelectric generating sets with smaller steady-state time by a preset third value;
if yes, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first scale coefficient of the first Q hydroelectric generating sets with larger overshoot proportion by a preset third value;
wherein P is 2Q.
In this embodiment, because the PID parameters do not satisfy some judgment conditions in the optimization process, the grid system needs to be subjected to fault disturbance again, and the first scale coefficient may be adjusted according to whether the number of times of the fault disturbance is a multiple of 3 or not, in addition to adjusting the first scale coefficient according to the parity of the number of times of the fault disturbance; wherein, Q can be 5, the larger the Q value is, the faster the optimization speed of PID parameters is, but the precision is correspondingly reduced; the third value may take the value 0.1.
In an alternative embodiment, the first power range is 0.92ad (k) -1.08ad (k), wherein ad (k) is a steady-state adjustment of the k-th hydroelectric generating set power.
In this embodiment, the first power range is actually within a range of 8% of the steady-state adjustment amount, in order to mainly determine the steady-state time when the mechanical power of the hydroelectric generating set enters the steady-state after the low-frequency oscillation occurs.
In an alternative embodiment, S600: judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
In this embodiment, the second threshold may be 70 seconds, and the larger the second threshold is, the more the low-frequency oscillation of the power grid system occurs, but the faster the PID parameter optimization speed is; and when the steady-state time of all the hydroelectric generating sets is smaller than the second threshold value, ending the optimization process of the PID parameters of the hydroelectric generating set speed regulators, storing the adjusted proportional coefficient and integral coefficient, otherwise, carrying out fault disturbance on the power grid system again, and recording the mechanical power curve of each hydroelectric generating set again, thereby recalculating the steady-state regulating quantity, the steady-state time and the overshoot proportion of the power of each hydroelectric generating set.
Please refer to fig. 3, which is a schematic diagram of a grid system-based speed regulator PID parameter optimization apparatus of a hydroelectric generating set, according to an embodiment of the present invention, the grid system-based speed regulator PID parameter optimization apparatus of a hydroelectric generating set includes:
the system comprises a speed regulator PID parameter adjusting module 1, a speed regulator PID parameter adjusting module and a control module, wherein the speed regulator PID parameter adjusting module 1 is used for determining a hydroelectric generating set which needs speed regulator PID parameter optimization in the power grid system, and adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter into a first proportional coefficient and a first integral coefficient respectively;
the vibration period calculation module 2 is used for performing fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and performing Prony analysis on a signal generated by the low-frequency oscillation to acquire a vibration period of the power grid system during the low-frequency oscillation;
the mechanical power curve recording module 3 is used for recording a mechanical power curve of each hydroelectric generating set when the power grid system generates low-frequency oscillation, and calculating a steady-state regulating quantity and a steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
the overshoot proportion calculation module 4 is used for calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady state regulating quantity;
the steady-state regulating quantity judging module 5 is used for judging whether the steady-state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulating quantity of the power of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
the steady-state time judging module 6 is used for judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, the optimization process of the PID parameters of the hydroelectric generating set speed regulators is finished; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
In the embodiment, after the fault disturbance is carried out on the power grid system, the overshoot proportion and the steady state time of the mechanical power of each hydroelectric generating set are obtained, the proportion coefficient and the integral coefficient of each hydroelectric generating set are gradually adjusted according to a certain adjusting method, the time for each hydroelectric generating set to enter the steady state is integrally reduced, a set of reasonable PID parameters are found for the hydroelectric generating set speed regulator in the power grid system, and the ultra-low frequency oscillation phenomenon of a large power grid is effectively inhibited.
In an alternative embodiment, the mechanical power curve recording module 3 comprises:
a steady-state adjustment amount calculation unit for calculating (F) according to the formula AD (k)f-Fref-Sq(k)×Fref)/Fref/Ep(k) Calculating the steady state regulating quantity of the hydroelectric generating set power;
wherein AD (k) is the steady-state regulating quantity of the power of the kth hydroelectric generating set, FfFor the steady-state frequency, F, of the grid system after the low-frequency oscillation has subsidedrefIs the standard frequency, S, of the grid systemq(k) For the PID control dead zone of the kth hydroelectric generating set, Ep(k) The adjustment coefficient of the kth hydroelectric generating set;
and the steady-state time calculation unit is used for calculating the steady-state time as the time point when the mechanical power of the hydroelectric generating set starts to be stably kept in a preset first power range.
In this embodiment, the stable maintenance of the mechanical power of the hydroelectric generating set in the preset first power range means that the mechanical power of the hydroelectric generating set is always within the first power range and does not exceed the first power range; the mechanical power curve can be directly displayed and output by calculation and analysis software of a power system, and the PID adjustment dead zone is a parameter of the hydroelectric generating set and can generally take the value of 0.04-0.06 Hz; the difference adjustment coefficient of the motor set can be 0.04-0.05, wherein the steady-state time can be 999 seconds if the mechanical power of the hydroelectric generating set cannot be stably kept in a preset first power range in a preset time period.
In an alternative embodiment, the overshoot proportion calculation module 4 comprises:
the initial value and second swing extreme value calculating unit is used for calculating an initial value and a second swing extreme value in the mechanical power curve according to the mechanical power curve; the initial value is a mechanical power value of the hydroelectric generating set when the fault disturbance occurs, and the second oscillation extreme value is a mechanical power extreme value in a time period of 1.5-2.5 after the fault disturbance occurs;
the first regulating quantity calculating unit is used for calculating a first regulating quantity of the power of the hydroelectric generating set after fault disturbance according to the initial value and the second oscillation extreme value;
and the overshoot proportion calculation unit is used for calculating the overshoot proportion of the hydroelectric generating set according to the first regulating quantity and the steady-state regulating quantity.
In this embodiment, the extreme value of the second oscillation extreme value includes a maximum value and a minimum value, when the power of the grid system is mismatched and the power of the grid system is excessive, the extreme value of the second oscillation extreme value is a minimum value, and when the power of the grid system is insufficient, the extreme value of the second oscillation extreme value is a maximum value, please refer to fig. 2, which is a graph showing a mechanical power curve of a certain hydroelectric generating set when the power of the grid system is mismatched and the power of the grid system is excessive.
In an alternative embodiment, the steady-state adjustment amount determination module 5 includes:
and the second integral coefficient calculating unit is used for increasing the first integral coefficient by a preset first value to obtain a second integral coefficient.
In an optional embodiment, the adjusting a first scaling factor unit is configured to adjust first scaling factors of the plurality of hydroelectric generating sets, and specifically includes:
the first subunit is used for adjusting a first scale coefficient and is used for recording the frequency of fault disturbance on the power grid system, when the frequency of the fault disturbance is an odd number, the hydroelectric generating sets are sequenced according to the steady-state time, and the first scale coefficients of the first N hydroelectric generating sets with smaller steady-state time are increased by a preset second value;
the second subunit is used for adjusting the first scale coefficient and sequencing the hydroelectric generating sets according to the overshoot proportion when the frequency of the fault disturbance is even, and reducing the first scale coefficients of the first M hydroelectric generating sets with larger overshoot proportions by preset second values;
wherein N is 2M.
In this embodiment, since the PID parameters do not satisfy some judgment conditions in the optimization process, and the grid system needs to be subjected to fault disturbance again, the first scale coefficient may be adjusted according to the parity of the number of times of fault disturbance; wherein, M can be 5, the larger the value of M is, the faster the optimization speed of PID parameters is, but the precision is correspondingly reduced; the second value may take the value of 0.1.
Compared with the prior art, the hydropower unit speed regulator PID parameter optimization method based on the power grid system has the beneficial effects that: the grid system-based hydroelectric generating set speed regulator PID parameter optimization method comprises the following steps: determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient; carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation; when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve; calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state regulating quantity; judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets; judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set. The method judges the steady state regulating quantity and the steady state time of the hydroelectric generating set power according to a preset threshold value, thereby properly adjusting the PID parameters of the hydroelectric generating set speed regulator,
in a short time, a set of reasonable PID parameters is found for the hydro-power generating unit speed regulator in the power grid system, and the ultra-low frequency oscillation phenomenon of a large power grid is effectively inhibited.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.
Claims (10)
1. A hydroelectric generating set speed regulator PID parameter optimization method based on a power grid system is characterized by comprising the following steps:
determining hydroelectric generating sets needing speed regulator PID parameter optimization in the power grid system, and respectively adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter to be a first proportional coefficient and a first integral coefficient;
carrying out fault disturbance on the power grid system to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation to obtain a vibration period of the power grid system during the low-frequency oscillation;
when the power grid system generates low-frequency oscillation, recording a mechanical power curve of each hydroelectric generating set, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady-state regulating quantity;
judging whether the steady state regulating quantity of each hydroelectric generating set is smaller than a first threshold value, if so, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady state regulating quantity of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value, if so, ending the optimization process of the PID parameters of the speed regulators of the hydroelectric generating sets; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
2. The grid system-based hydroelectricity unit speed regulator PID parameter optimization method according to claim 1, characterized in that, the method for calculating the steady state regulation amount and the steady state time of each hydroelectricity unit power after the grid system has a fault disturbance according to the mechanical power curve specifically comprises:
according to the formula AD (k) ═ (F)f-Fref-Sq(k)×Fref)/Fref/Ep(k) Calculating the steady state regulating quantity of the hydroelectric generating set power;
wherein AD (k) is the steady-state regulating quantity of the power of the kth hydroelectric generating set, FfFor the steady-state frequency, F, of the grid system after the low-frequency oscillation has subsidedrefIs the standard frequency, S, of the grid systemq(k) For the PID control dead zone of the kth hydroelectric generating set, Ep(k) The adjustment coefficient of the kth hydroelectric generating set;
the steady-state time is a time point when the mechanical power of the hydroelectric generating set starts to be stably maintained in a preset first power range.
3. The grid system-based hydroelectrical generating set speed regulator PID parameter optimization method according to claim 2, characterized in that the calculating of the overshoot proportion of the hydroelectrical generating set according to the mechanical power curve and the steady state adjustment quantity specifically comprises:
calculating an initial value and a second swing limit value in the mechanical power curve according to the mechanical power curve; the initial value is a mechanical power value of the hydroelectric generating set when the fault disturbance occurs, and the second oscillation extreme value is a mechanical power extreme value within 1.5T-2.5T after the fault disturbance occurs; wherein T is a vibration period of the power grid system during the low-frequency oscillation;
calculating a first adjustment quantity of power of the hydroelectric generating set after fault disturbance according to the initial value and the second oscillation extreme value;
and calculating the overshoot proportion of the hydroelectric generating set according to the first regulating quantity and the steady-state regulating quantity.
4. The grid system-based optimization method for the PID parameters of the speed regulator of the hydroelectric generating set according to claim 3, wherein the calculating the first adjustment amount of the power of the hydroelectric generating set after the fault disturbance according to the initial value and the second oscillation limit value specifically comprises:
according to formula P1(k)＝P0(k)-Pi(k) Calculating a first regulating quantity of power of the hydroelectric generating set after fault disturbance;
wherein, P1(k) For the first adjustment of the power, P, of the kth hydroelectric generating set after a fault disturbance0(k) Is the initial value of power, P, when the kth hydroelectric generating set has fault disturbancei(k) And the second swing extreme value is obtained.
5. The grid system-based hydro-power generating unit speed regulator PID parameter optimization method according to claim 4, wherein calculating the overshoot proportion of the hydro-power generating unit according to the first adjustment quantity and the steady state adjustment quantity specifically comprises:
according to the formula OS (k) ═ P1(k) Calculating the overshoot proportion of the hydroelectric generating set by means of division AD (k);
wherein OS (k) is the overshoot proportion of the kth hydroelectric generating set.
6. The grid system-based optimization method for the PID parameters of the hydro-power generating unit speed regulator according to claim 1, wherein the adjusting of the first integral coefficient of the hydro-power generating unit specifically includes:
and increasing the first integral coefficient by a preset first value to obtain a second integral coefficient.
7. The grid system-based hydroelectric generating set speed regulator PID parameter optimization method of claim 1, wherein the adjusting the first scale coefficients of the plurality of hydroelectric generating sets specifically comprises:
recording the number of times of fault disturbance on the power grid system, sequencing the hydroelectric generating sets according to the steady-state time when the number of times of fault disturbance is an odd number, and increasing the first proportional coefficients of the first N hydroelectric generating sets with smaller steady-state time by a preset second value;
when the number of the fault disturbance is even, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first proportion coefficient of the first M hydroelectric generating sets with larger overshoot proportions by a preset second value;
wherein N is 2M.
8. The grid system-based hydroelectric generating set speed regulator PID parameter optimization method of claim 1, wherein the adjusting the first scale coefficients of the plurality of hydroelectric generating sets specifically comprises:
recording the frequency of fault disturbance on the power grid system, judging whether the frequency of the fault disturbance is a multiple of 3, if not, sequencing the hydroelectric generating sets according to the steady-state time, and increasing the first proportional coefficients of the first P hydroelectric generating sets with smaller steady-state time by a preset third value;
if yes, sequencing the hydroelectric generating sets according to the overshoot proportion, and reducing the first scale coefficient of the first Q hydroelectric generating sets with larger overshoot proportion by a preset third value;
wherein P is 2Q.
9. The grid system based hydroelectricity unit speed regulator PID parameter optimization method of claim 2, characterized in that the first power range is 0.92ad (k) -1.08ad (k), where ad (k) is a steady state regulation amount of the kth hydroelectricity unit power.
10. The utility model provides a hydroelectric generating set speed regulator PID parameter optimization device based on electric wire netting system which characterized in that includes:
the system comprises a speed regulator PID parameter adjusting module, a speed regulator PID parameter adjusting module and a control module, wherein the speed regulator PID parameter adjusting module is used for determining a hydroelectric generating set which needs speed regulator PID parameter optimization in the power grid system, and adjusting an initial proportional coefficient and an initial integral coefficient in each hydroelectric generating set speed regulator PID parameter into a first proportional coefficient and a first integral coefficient respectively;
the vibration period calculation module is used for carrying out fault disturbance on the power grid system so as to excite the power grid system to generate low-frequency oscillation, and carrying out Prony analysis on a signal generated by the low-frequency oscillation so as to obtain a vibration period of the power grid system during the low-frequency oscillation;
the mechanical power curve recording module is used for recording a mechanical power curve of each hydroelectric generating set when the power grid system generates low-frequency oscillation, and calculating the steady-state regulating quantity and the steady-state time of the power of each hydroelectric generating set after the power grid system generates fault disturbance according to the mechanical power curve;
the overshoot proportion calculation module is used for calculating the overshoot proportion of the hydroelectric generating set according to the mechanical power curve and the steady state regulating quantity;
the steady-state regulating quantity judging module is used for judging whether the steady-state regulating quantity of each hydroelectric generating set is smaller than a first threshold value or not, if yes, adjusting a first integral coefficient of each hydroelectric generating set, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulating quantity of the power of each hydroelectric generating set; if not, adjusting first proportional coefficients of the hydroelectric generating sets;
the steady-state time judging module is used for judging whether the steady-state time of each hydroelectric generating set is smaller than a second threshold value or not, and if yes, ending the optimization process of the PID parameters of the hydroelectric generating set speed regulators; and if not, carrying out fault disturbance on the power grid system again, and recalculating the steady-state regulation quantity of the power of each hydroelectric generating set.
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| CN111722525A (en) * | 2020-06-22 | 2020-09-29 | 天津中新智冠信息技术有限公司 | Coefficient determination method, coefficient determination device, electronic equipment, PID system and storage medium |
| CN112436561A (en) * | 2020-10-21 | 2021-03-02 | 桑河二级水电有限公司 | Dynamic parameter adjusting method for active power of generator set and storage medium |
| CN112366733B (en) * | 2020-11-30 | 2022-10-28 | 南方电网科学研究院有限责任公司 | Method, device, system and medium for optimizing PID (proportion integration differentiation) parameters of speed regulator of hydroelectric generating set |
| CN116339134B (en) * | 2022-12-30 | 2023-10-24 | 华能国际电力股份有限公司德州电厂 | Frequency modulation optimization control system of large-disturbance thermal power generating unit |
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